增加自动重新运动功能。

DeviceLibrary/manager/StockInfo.cs

@@ -69,6 +69,7 @@ namespace TSA_V.DeviceLibrary
                     {
                         //上一个节点返回原点
                         PUSICANControl.AbsMove(PreNodeId, TSAVBean.RotateNode_DefaultPosition); 
+                        Thread.Sleep(50);
                     }
 
                     PUSICANControl.AbsMove(moveNode.NodeId, position.RotatePosition);

DeviceLibrary/manager/TSAVStatus.cs

@@ -175,6 +175,8 @@ namespace TSA_V.DeviceLibrary
         public int TemperatureMax { get; set; }
 
 
+        public int WhileMoveCount = 0;
+
         public static bool GetWaitResult(List<WaitResultInfo> waitList, TimeSpan span,bool oneOkCanEnd, out string waitMsg)
         {
             waitMsg = "";
@@ -199,8 +201,16 @@ namespace TSA_V.DeviceLibrary
                     if (wait.WaitType.Equals(WaitTypeEnum.NodeMove_1))
                     {
                         string msg = "";
-                        wait.IsEnd = PUSICANControl.MoveIsEnd(wait.Node.NodeId, wait.TargetPosition,out msg);
+
+                        wait.IsEnd = PUSICANControl.MoveIsEnd(wait.Node.NodeId, wait.TargetPosition,out msg,out bool canWhileMove);
                         waitMsg = waitMsg + msg;
+
+                        if (span.TotalSeconds >= 5 && canWhileMove && wait.WhileMoveCount.Equals(0))
+                        {
+                            wait.WhileMoveCount++;
+                            LogUtil.info(waitMsg + ". 自动重新运动一次"+wait.WhileMoveCount); 
+                            PUSICANControl.AbsMove(wait.Node.NodeId, wait.TargetPosition);
+                        }
                     }
                     else if (wait.WaitType.Equals(WaitTypeEnum.NodeHome_2))
                     {

DeviceLibrary/manager/WorkInfo.cs

@@ -287,6 +287,7 @@ namespace TSA_V.DeviceLibrary
                     {
                         //上一个节点返回原点
                         PUSICANControl.AbsMove(PreNodeId, TSAVBean.RotateNode_DefaultPosition);
+                        Thread.Sleep(50);
                     } 
                     PUSICANControl.AbsMove(moveNode.NodeId, position.RotatePosition);
                     waitList.Add(WaitResultInfo.WaitNode(moveNode, position.RotatePosition));

PUSICANLibrary/PUSICANControl.cs

@@ -926,12 +926,13 @@ namespace PUSICANLibrary
         /// <summary>
         /// 运动是否结束
         /// </summary> 
-        public static bool MoveIsEnd(uint nodeId, int targetPosition,out string waitMsg)
+        public static bool MoveIsEnd(uint nodeId, int targetPosition,out string waitMsg,out bool canWhileMove)
         {
             //判断忙碌状态=0 当前坐标=targetPosition
             int currPosition = GetPosition(nodeId);
             int cha = Math.Abs(targetPosition - currPosition);
             waitMsg = "当前坐标[" + currPosition + "]";
+            canWhileMove = true;
             if (cha < 10)
             {
                 int value = 0;
@@ -942,6 +943,7 @@ namespace PUSICANLibrary
                     waitMsg = waitMsg + "忙碌状态["+busyStr+"]";
                     if (busyStr.Equals("1"))
                     {
+                        canWhileMove = false;
                         return false;
                     }
                     else

TSA-V/FrmBoardPutCom.cs

@@ -269,7 +269,7 @@ namespace TSA_V
             {
                 if (span.TotalMinutes > 1)
                 {
-                    waitMsg = "等待【" + waitMsg + "】超时 已等待【" + span.TotalMinutes.ToString() + "】分钟，";
+                    waitMsg = "等待【" + waitMsg + "】超时 已等待【" + Math.Round( span.TotalMinutes ,2)+ "】分钟，";
                     foreach (WaitResultInfo wait in list)
                     {
                         waitMsg = waitMsg + "\r\n" + wait.ToStr();

TSA-V/FrmPutCom.cs

@@ -268,7 +268,7 @@ namespace TSA_V
             {
                 if (span.TotalMinutes > 1)
                 {
-                    waitMsg = "等待【" + waitMsg + "】超时 已等待【" + span.TotalMinutes.ToString() + "】分钟，";
+                    waitMsg = "等待【" + waitMsg + "】超时 已等待【" + Math.Round(span.TotalMinutes, 2) + "】分钟，";
                     foreach (WaitResultInfo wait in list)
                     {
                         waitMsg = waitMsg + "\r\n" + wait.ToStr();

TSA-V/ResourceCulture.cs

@@ -106,7 +106,7 @@ namespace TSA_V
         private static void NoIdLog(string id, string defaultStr)
         {
           
-            LogUtil.info("No id:[" + id + "], please add,use default string :" + defaultStr);
+            LogUtil.debug("No id:[" + id + "], please add,use default string :" + defaultStr);
             if (!defaultMap.ContainsKey(id))
             {
                 defaultMap.Add(id, defaultStr);